#include <esc.hpp>

Collaboration diagram for UavcanEscController:

Public Member Functions
	UavcanEscController (uavcan::INode &node)

	~UavcanEscController ()

int	init ()

void	update_outputs (bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)

void	set_rotor_count (uint8_t count)
	Sets the number of rotors. More...

Static Public Member Functions
static int	max_output_value ()

Static Public Attributes
static constexpr int	MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS

static constexpr unsigned	MAX_RATE_HZ = 200
	XXX make this configurable. More...

static constexpr uint16_t	DISARMED_OUTPUT_VALUE = UINT16_MAX

Private Types
typedef uavcan::MethodBinder< UavcanEscController , void(UavcanEscController::)(const uavcan::ReceivedDataStructure< uavcan::equipment::esc::Status > &)>	StatusCbBinder

typedef uavcan::MethodBinder< UavcanEscController , void(UavcanEscController::)(const uavcan::TimerEvent &)>	TimerCbBinder

Private Member Functions
void	esc_status_sub_cb (const uavcan::ReceivedDataStructure< uavcan::equipment::esc::Status > &msg)
	ESC status message reception will be reported via this callback. More...

void	orb_pub_timer_cb (const uavcan::TimerEvent &event)
	ESC status will be published to ORB from this callback (fixed rate). More...

uint8_t	check_escs_status ()
	Checks all the ESCs freshness based on timestamp, if an ESC exceeds the timeout then is flagged offline. More...

Private Attributes
esc_status_s	_esc_status {}

uORB::PublicationMulti< esc_status_s >	_esc_status_pub {ORB_ID(esc_status)}

uint8_t	_rotor_count {0}

uavcan::MonotonicTime	_prev_cmd_pub
	rate limiting More...

uavcan::INode &	_node

uavcan::Publisher< uavcan::equipment::esc::RawCommand >	_uavcan_pub_raw_cmd

uavcan::Subscriber< uavcan::equipment::esc::Status, StatusCbBinder >	_uavcan_sub_status

uavcan::TimerEventForwarder< TimerCbBinder >	_orb_timer

uint8_t	_max_number_of_nonzero_outputs {0}

Static Private Attributes
static constexpr unsigned	ESC_STATUS_UPDATE_RATE_HZ = 10

static constexpr unsigned	UAVCAN_COMMAND_TRANSFER_PRIORITY = 5
	0..31, inclusive, 0 - highest, 31 - lowest More...

Detailed Description

Definition at line 57 of file esc.hpp.

Member Typedef Documentation

◆ StatusCbBinder

typedef uavcan::MethodBinder<UavcanEscController *, void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> UavcanEscController::StatusCbBinder

private

Definition at line 98 of file esc.hpp.

◆ TimerCbBinder

typedef uavcan::MethodBinder<UavcanEscController *, void (UavcanEscController::*)(const uavcan::TimerEvent &)> UavcanEscController::TimerCbBinder

private

Definition at line 101 of file esc.hpp.

Constructor & Destructor Documentation

◆ UavcanEscController()

UavcanEscController::UavcanEscController ( uavcan::INode & node )

Definition at line 48 of file esc.cpp.

References _uavcan_pub_raw_cmd, and UAVCAN_COMMAND_TRANSFER_PRIORITY.

◆ ~UavcanEscController()

UavcanEscController::~UavcanEscController ( )

Definition at line 57 of file esc.cpp.

Member Function Documentation

◆ check_escs_status()

uint8_t UavcanEscController::check_escs_status ( )

private

Checks all the ESCs freshness based on timestamp, if an ESC exceeds the timeout then is flagged offline.

Definition at line 171 of file esc.cpp.

References _esc_status, esc_status_s::esc, hrt_absolute_time(), hrt_abstime, and esc_report_s::timestamp.

Referenced by max_output_value(), and orb_pub_timer_cb().

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◆ esc_status_sub_cb()

void UavcanEscController::esc_status_sub_cb ( const uavcan::ReceivedDataStructure< uavcan::equipment::esc::Status > & msg )

private

ESC status message reception will be reported via this callback.

Definition at line 143 of file esc.cpp.

References _esc_status, esc_status_s::esc, esc_report_s::esc_address, and hrt_absolute_time().

Referenced by init(), and max_output_value().

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◆ init()

int UavcanEscController::init ( )

Definition at line 62 of file esc.cpp.

References _orb_timer, _uavcan_sub_status, esc_status_sub_cb(), ESC_STATUS_UPDATE_RATE_HZ, and orb_pub_timer_cb().

Referenced by UavcanNode::init().

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◆ max_output_value()

static int UavcanEscController::max_output_value ( )

inlinestatic

Definition at line 76 of file esc.hpp.

References check_escs_status(), esc_status_sub_cb(), math::max(), msg, and orb_pub_timer_cb().

Referenced by UavcanNode::init().

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◆ orb_pub_timer_cb()

void UavcanEscController::orb_pub_timer_cb ( const uavcan::TimerEvent & event )

private

ESC status will be published to ORB from this callback (fixed rate).

Definition at line 159 of file esc.cpp.

References _esc_status, _esc_status_pub, _rotor_count, check_escs_status(), esc_status_s::counter, esc_status_s::esc_connectiontype, esc_status_s::esc_count, esc_status_s::esc_online_flags, hrt_absolute_time(), uORB::PublicationMulti< T >::publish(), and esc_status_s::timestamp.

Referenced by init(), and max_output_value().

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◆ set_rotor_count()

void UavcanEscController::set_rotor_count ( uint8_t count )

inline

Sets the number of rotors.

Definition at line 74 of file esc.hpp.

References _rotor_count.

Referenced by UavcanMixingInterface::mixerChanged().

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◆ update_outputs()

void UavcanEscController::update_outputs	(	bool	stop_motors,
		uint16_t	outputs[MAX_ACTUATORS],
		unsigned	num_outputs
	)

Definition at line 80 of file esc.cpp.

References _max_number_of_nonzero_outputs, _node, _prev_cmd_pub, _uavcan_pub_raw_cmd, DISARMED_OUTPUT_VALUE, MAX_RATE_HZ, and msg.

Referenced by UavcanMixingInterface::updateOutputs().

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Member Data Documentation

◆ _esc_status

esc_status_s UavcanEscController::_esc_status {}

private

Definition at line 103 of file esc.hpp.

Referenced by check_escs_status(), esc_status_sub_cb(), and orb_pub_timer_cb().

◆ _esc_status_pub

uORB::PublicationMulti<esc_status_s> UavcanEscController::_esc_status_pub {ORB_ID(esc_status)}

private

Definition at line 105 of file esc.hpp.

Referenced by orb_pub_timer_cb().

◆ _max_number_of_nonzero_outputs

uint8_t UavcanEscController::_max_number_of_nonzero_outputs {0}

private

Definition at line 121 of file esc.hpp.

Referenced by update_outputs().

◆ _node

uavcan::INode& UavcanEscController::_node

private

Definition at line 113 of file esc.hpp.

Referenced by update_outputs().

◆ _orb_timer

uavcan::TimerEventForwarder<TimerCbBinder> UavcanEscController::_orb_timer

private

Definition at line 116 of file esc.hpp.

Referenced by init().

◆ _prev_cmd_pub

uavcan::MonotonicTime UavcanEscController::_prev_cmd_pub

private

rate limiting

Definition at line 112 of file esc.hpp.

Referenced by update_outputs().

◆ _rotor_count

uint8_t UavcanEscController::_rotor_count {0}

private

Definition at line 107 of file esc.hpp.

Referenced by orb_pub_timer_cb(), and set_rotor_count().

◆ _uavcan_pub_raw_cmd

uavcan::Publisher<uavcan::equipment::esc::RawCommand> UavcanEscController::_uavcan_pub_raw_cmd

private

Definition at line 114 of file esc.hpp.

Referenced by UavcanEscController(), and update_outputs().

◆ _uavcan_sub_status

uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> UavcanEscController::_uavcan_sub_status

private

Definition at line 115 of file esc.hpp.

Referenced by init().

◆ DISARMED_OUTPUT_VALUE

constexpr uint16_t UavcanEscController::DISARMED_OUTPUT_VALUE = UINT16_MAX

static

Definition at line 62 of file esc.hpp.

Referenced by UavcanNode::init(), and update_outputs().

◆ ESC_STATUS_UPDATE_RATE_HZ

constexpr unsigned UavcanEscController::ESC_STATUS_UPDATE_RATE_HZ = 10

staticprivate

Definition at line 94 of file esc.hpp.

Referenced by init().

◆ MAX_ACTUATORS

constexpr int UavcanEscController::MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS

static

Definition at line 60 of file esc.hpp.

◆ MAX_RATE_HZ

constexpr unsigned UavcanEscController::MAX_RATE_HZ = 200

static

XXX make this configurable.

Definition at line 61 of file esc.hpp.

Referenced by UavcanNode::init(), and update_outputs().

◆ UAVCAN_COMMAND_TRANSFER_PRIORITY

constexpr unsigned UavcanEscController::UAVCAN_COMMAND_TRANSFER_PRIORITY = 5

staticprivate

0..31, inclusive, 0 - highest, 31 - lowest

Definition at line 95 of file esc.hpp.

Referenced by UavcanEscController().

The documentation for this class was generated from the following files:

src/drivers/uavcan/actuators/esc.hpp
src/drivers/uavcan/actuators/esc.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ StatusCbBinder

◆ TimerCbBinder

Constructor & Destructor Documentation

◆ UavcanEscController()

◆ ~UavcanEscController()

Member Function Documentation

◆ check_escs_status()

◆ esc_status_sub_cb()

◆ init()

◆ max_output_value()

◆ orb_pub_timer_cb()

◆ set_rotor_count()

◆ update_outputs()

Member Data Documentation

◆ _esc_status

◆ _esc_status_pub

◆ _max_number_of_nonzero_outputs

◆ _node

◆ _orb_timer

◆ _prev_cmd_pub

◆ _rotor_count

◆ _uavcan_pub_raw_cmd

◆ _uavcan_sub_status

◆ DISARMED_OUTPUT_VALUE

◆ ESC_STATUS_UPDATE_RATE_HZ

◆ MAX_ACTUATORS

◆ MAX_RATE_HZ

◆ UAVCAN_COMMAND_TRANSFER_PRIORITY